System, device and method for mobile device environment sensing and user feedback

ABSTRACT

The present disclosure describes a system, device, and method for assisting a user to avoid contacting surfaces with their mobile device. An environment is sensed with one or more electronic sensors. The sensor readings are analyzed. Information is then provided to a user based on the analyzed sensor readings. The sensors may be configured so their sensor cones cross at a midpoint. Readings from the sensor(s) may be grouped according detection zone(s) corresponding to one or more areas about a mobile device. A computing module may control a feedback module according to detection zone readings. The feedback module may comprise an indicator for each detection zone. The indicator may be a vibration motor. The indicator may be a light. The computing module may set the colour of a light and/or control the vibrations based on the proximity of surfaces detected within the corresponding detection zone.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of U.S. patent application Ser. No.16/317,110, which is a § 371 national phase of International ApplicationNo. PCT/CA2017/050840, filed Jul. 11, 2017, which claims priority toU.S. Provisional Patent Application 62/361,116 filed on Jul. 12, 2016,each of which is incorporated by reference herein in its entirety.

FIELD

The present disclosure relates to the field of environment sensing. Moreparticularly, the present disclosure relates to surface proximitydetection and feedback for users of mobile devices, including mobilitydevices, mobile robotics, and remote control applications.

BACKGROUND

Collision of a mobile device (such as a wheelchair, walker and scooter,robot, and remote control device) with objects (including people andanimals) within their environment may cause physical harm and propertydamage, both to the mobile device and the surrounding objects. Physicalinjury may be suffered by the driver/user of the mobile device and otherpeople within the vicinity of the mobile device. In certain cases, acollision by a user may result in the loss of mobile device usageprivileges.

Collisions with a mobile device can also have negative psychologicalconsequences for mobile device users. Users may feel self-consciousabout their driving abilities. Collisions may exacerbate a users'self-consciousness and even cause embarrassment and reduce mobile deviceusage.

A system, device, and method for helping users avoid collisions withtheir mobile devices is desirable.

BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 shows perspective view of a system in accordance with anembodiment of the present disclosure attached to a mobile device.

FIG. 2 shows a top view of the system of FIG. 1.

FIGS. 3A-D show various views of a sensor module in accordance with anembodiment of this disclosure.

FIG. 4 shows a perspective view of another embodiment of a sensor modulein accordance with this disclosure.

FIGS. 5A-D show various view of another embodiment of a sensor module inaccordance with this disclosure.

FIG. 6 shows a perspective view of a sensor module in accordance with anembodiment of the present disclosure.

FIG. 7 shows an exploded perspective view of a sensor module inaccordance with the present disclosure.

FIG. 8 shows an exploded perspective view of a sensor module inaccordance with another embodiment of the present disclosure.

FIGS. 9A-E show various views of another embodiment of a sensor module900 in accordance with the present disclosure.

FIGS. 10A-E show various views of a feedback module in accordance withan embodiment of the present disclosure.

FIGS. 11A-B show top views of an embodiment of a sensor module andcorresponding sensor cones in accordance with the present disclosure.

DETAILED DESCRIPTION

The present disclosure describes a system, device, and method forhelping a user avoid contacting surfaces with their mobile device. Thesystem, device, and method sense the environment using one or moreelectronic sensors, process the sensor readings, and provide informationto the user via one or more feedback modules about the proximity ofsurfaces within the environment. The sensors may be ultrasonic sensors.The system, device, and method may be used with mobile devices such asmobility devices to assist a user with moving, and with controllingrobots. The sensors may be configured so their sensor cones cross at apoint. Readings from the sensor(s) may be grouped according to detectionzone(s) corresponding to one or more areas about a mobile device. Adetection zone may have overlapping sensor cones. The detection zonesmay overlap one-another for a particular area. A computing module maycontrol a feedback module according to detection zone readings. Thefeedback module may comprise an indicator for each detection zone. Theindicator may be a vibration motor. The indicator may be a light. Thecomputing module may set the colour of a light based on the proximity ofsurfaces detected within the corresponding detection zone.

In an embodiment of the present disclosure, the system comprises asensor module comprising one or more sensors, each sensor configured todetect the proximity of an object to the sensor; a controller configuredto control the sensors and analyze the data received from the sensors;and a user feedback module for providing information regarding theproximity of the sensors to an object based on the data analyzed by thecomputing module.

In an embodiment, the system comprises a sensor module comprising a oneor more ultrasonic sensors, each sensor comprising an ultrasonictransmit transducer and an ultrasonic receive transducer, each sensorfor detecting the proximity of an object to the sensor; a computingmodule for controlling the sensor module and analyzing the data from thesensor modules; and a user feedback module for providing information toa user of a mobility device regarding the proximity of the mobilitydevice to an object based on the sensor data analyzed by the computingmodule.

FIG. 1 shows a perspective view of a system 100 in accordance with anembodiment of this disclosure attached to a mobile device. The system100 comprises a sensor module 102 and a feedback module 150. The sensormodule 102 is mounted on a location of the mobility device. FIG. 1 showsthe sensor module 102 mounted on the bottom rear of a wheelchair. Thefeedback module 150 is mounted on the joystick of the wheelchair. Thesensor module 102 is in communication with the feedback module 150. Thesensor module 102 is electrically connected to the feedback module toexchange data. The sensor module 102 may, however, have a wirelessconnection to exchange data wirelessly.

The sensor module 102 comprises a controller (also referred to herein asa computing module). The controller may be a central processing unit orprocessor. The feedback module 150 may also comprise acontroller/computing module which may interface with thecontroller/computing module of the sensor module 102.

Each of the sensors 104 in the sensor module 102 detects a surface of anobject 190 if that surface is within the area or range covered by therespective sensor 104. The sensors 104 each communicate their readingsto the controller as data. The vicinity being monitored by the sensors104 may be the area which is difficult for a user of a mobility deviceto view, such as the area behind the mobility device. FIG. 1 shows thesensor module 102 mounted to the back of an electrical wheelchair.Accordingly, the system 100 is setup to monitor the vicinity or areabehind the wheelchair. The system 100 can also be configured to monitorthe vicinity or areas in front of or on the sides of the wheelchair forusers. These alternate or supplemental locations can be helpful forusers who, for example, have low vision, including low peripheral visionand visual neglect.

The computing module receives the data from the sensor module 102,analyzes that data, then communicates information to the user based onthe data analysis using the feedback module 150. In an embodiment, thedata comprises information about the proximities of surfaces of theobject 190 relative to the corresponding sensors 104. That proximityinformation may be actual distances to the surfaces of the object 190relative to the sensors 104 or some other reference point. The proximityinformation is used to communicate to the user of the mobility devicethe proximity of the object 190 relative to one or more referencepoints, such as one or more location on the mobility device. The sensormodule 102 of FIG. 1, for example, comprises multiple ultrasonic sensors104 along its length. This permits detection of surfaces of object(s)relative to the entire width of the back of the wheelchair. When and theway this proximity information is communicated to the user depends onthe feedback module 150 and/or computing module configuration. In FIG.1, the computing module combines the readings from the multiple sensors104 to detect the locations of the surface of object 190 within threedetection zones or regions of the back of the wheelchair: a left region106, a right region 108, and a middle region 110. The computing modulethen sends data, such as RGB values and pulse intensity/duration, to thefeedback module 150 corresponding to each zone or region. The data issent via the wire connection, but may be sent wirelessly.

FIG. 2 shows a top view of the system 100 of FIG. 1 mounted to amobility device, with feedback modules 150, 170 in greater detail. Thefeedback module 150 comprises a light module 152. The light module 152comprises a left light 154, a right light, 156, and a middle light 158.The lights may be light emitting diodes (LEDs). Each LED may show thestatus to a user for a particular detection zone being monitored by thesensor module 102. The colour of each of the lights 154, 156, 158 maycorrespond to a proximity range within which the sensors 104 detectedthe surfaces of object(s) in each of the detection zones 106, 108, 110.The proximity ranges may be relative to a location on the sensor module102, such as the receiver of the sensor 104. For example, the entiresurface of the planter 190 of FIG. 1 is in the middle detection zone110. In a configuration of the controller, this may cause only themiddle light 158 to illuminate a particular colour. The left light 154and the right light 156 would not illuminate because there is no objectwithin the corresponding detection zone 106, 108. As further describedbelow, the computing module aggregates the sensor readings into aparticular output.

The colour of the middle light 158 depends on the minimum of thedistances between the sensors 104 monitoring the middle region 110 andthe surface of the planter 190. If the distances decrease, the middlelight 158 may change colour in real-time (or close to real-time) toindicate to a user that the surface of the planter 190 is gettingcloser. For example, the colour sequence may be green for objects thatare relatively far away, yellow for objects that are midrange, and redfor objects that are very close, relative to a point on the sensormodule 102 corresponding to the detection zone. This point is a proxyfor a point on the mobility device. In an embodiment, the controllercomprises a memory with a mapping of proximity/distance range(s) tolight colour(s).

In an embodiment, the mapping is as follows:

Short Range Mode Long Range Mode Light Colour Range Threshold DistanceThresholds Off >3 feet >15 feet Green 3-1 feet 15-6 feet Yellow 12-4inches 1-6 feet Red <4 inches <1 foot

The applicant has found this three light display to be one way torepresent to the user the environment within a 180-degree field of viewof the mobility device. This light system indicates to the user whetheran object is present within the detection areas, how close the object isto the mobility device, and the location of the object relative to themobility device.

The feedback module 150 also comprises mode lights 160, 162 and a modeswitch 164. The mode switch 164 is used by a user to change betweenthree different system modes: short range, long range, and off. The modelights 160, 162 are illuminated according to the system mode. In shortrange mode, only light 160 is illuminated/on. In long range mode, bothlights 160, 162 are on. In off mode, none of the lights are on.

It is important for a user to have a persistent indicator of whether thesystem 100 is on or off. This is especially true when the lights of thelight module 152 are off when no object is within the sensor 104 zones.If a user thinks the system 100 is on when it is actually off, the usercould mistakenly think that no object is within the vicinity of thesensor module 102. This could result in injury or damage to property.

It can also be helpful to a user to have a long range system mode and ashort range system mode which can be selected depending on the user'senvironment. In long range mode, the system 100 is configured to havegreater/larger object proximity thresholds than in short range mode. Inother words, in long range mode, the system 100 may monitor a furtherdistance away from the sensors 104 than in short range mode. Bycontrast, in short range mode, the system 100 may provide a user withgreater precision information as to the distance of an object from thesensors 104. Long range mode would be helpful with detecting objects inhigh-speed environments such as sidewalks and roadways. If objects areapproaching at a greater speed, the user needs to be alerted when thoseobjects are a further distance away so that the user has sufficient timeto react. Indeed, the system, device and method of the presentdisclosure may be used in applications to detect objects moving towardsor away from a stationary mobile device is stationery. Short range modewould be helpful with detecting objects in a close-proximity environmentsuch as a house or an office. In such environments, objects aretypically not approaching the mobility device at a high speed. Rather,the user needs to have greater precision information so that they cannavigate their mobility device through tight spaces and next to objectswhich are very close to the mobility device, and potentially on oppositesides of the device at the same time. For example, in long range mode,the system 100 may be configured to illuminate the middle light 158 redfor any object that is within 5 feet or less of a point of the sensormodule 102. In short range mode, however, the system 100 may beconfigured to illuminate the middle light 158 green for any objectbetween 1 and 3 feet, yellow for any object between 3 inches and 1 foot,and red for any object less than 3 inches, away from a point on thesensor module 102. Many mobility devices are unique in that they need tobe operated in different types of environments and can transitionbetween different environments quickly and seamlessly (i.e. entering abuilding from the street).

In an embodiment in accordance with the present disclosure, the user mayconfigure a distance threshold corresponding to a light colour for aparticular detection zone by navigating the sensor mobility device to aselect distance from a reference object for the detection zone, andindicating to the system 100 (such as pressing a button on the feedbackmodule 150) that the selected distance is the new threshold distance (orboundary) for that detection zone and mode.

The mode switch 164 may be a button that can be pressed to cycle throughthe modes. A press can be functionally easier for a greater number ofusers, since some users may not have good motor control of their handsto move a particular switch between locations. A button, however, allowsthe users to press with whatever body part is feasible—including theirhead. This switch 164 may be physically located on the feedback module150 or be connected through a wire to the feedback module 150 to allowusers to plug in their own switches (e.g., buttons or proximityswitches) that they might be more comfortable with using and allow forplacement in an alternate preferred location.

The system 100 also comprises a second feedback module 170. The secondfeedback module 170 is a haptic module to provide haptic feedback to theuser. The haptic module 170 may comprise one or more vibrator motors orother types of electronic devices which produce a vibration, generallyreferred to herein as vibration devices. The vibration devices areturned on and off to provide touch-based information to the user aboutthe environment being sensed by the system 100.

In an embodiment, the haptic module 170 comprises three vibrationmotors: a left vibration motor 172, a right vibration motor 174, and amiddle vibration motor 176. The vibration motors are located on the seatcushion of the wheelchair. The vibration motors 172, 174, 176 may belocated, however, in any location such as on the back rest, and the armrest. The locations of the vibration motors may be selected by the user.The locations may be dictated by the user's needs. The on/off sequence,intensity, and/or duration of the vibration motors 172, 174, 176 dependon the sensor 104 data and the configuration of the controller. Thecontrol of each of the vibration motors 172, 174, 176 may correspond toobjects within a particular detection zone or region 106, 108, 110covered by the sensor module 102.

The haptic module 170 may be controlled by the computing module. In anembodiment, a vibration motor cycles on for a brief period when aparticular event occurs or a condition is met for the detection zone106, 108, 110 corresponding to the vibration motor. The event orcondition may be the detection of a surface of an object at a thresholddistance. The vibration cycle may last 1 second. The event or conditionmay be the surface of an object getting incrementally closer, such thatat each increment the vibration produced by the vibration motorincreases in intensity and/or duration. In an embodiment, the vibrationmay be timed to occur with the changing of the colour of thecorresponding light in the light module 152. For example, as a userreverses their wheelchair closer to the planter 190, the middle light158 changes from green to yellow when the planter is a particularthreshold distance from the sensors 104 monitoring the middle detectionzone 110. At the moment or the distance threshold at which the middlelight 158 changes colour, the middle vibration motor 176 may turn on for1 second. In this way, the vibration motor provides non-visual feedbackto the user about a change in the environment being monitored by thesystem 100. Although transitory, this non-visual feedback can besufficient to prompt the user to look at the light module 152 to get abetter sense of proximity to the object relative to the differentlocations of the mobility device. The light module 152 providespersistent feedback to the user. The combination of the haptic module170 with the light module 152 allows a user of a mobility device to lookaway from the light module 152 but be prompted to look back at the lightmodule 152 when an object approaches. Although the vibration motor 172,174, 176 predominantly creates a touch-based signal, it may also providean auditory signal to the user. The combination of a visual feedbackmodule and a haptic feedback module can allow the user to developcognitive adaptations to the feedback stimulus. In this way, a user mayeventually perceive their senses as extending beyond their physical bodyand reaching into the mobility device, itself. Indeed, feeling avibration can seem very similar to brushing up against an object.Vibrations can, accordingly, be a very intuitive way to provideinformation to a user about their environment. Vibrations may beprocessed by a user more quickly than a visual stimulus, alone.

The feedback module 150 also comprises a vibration control 166. In anembodiment, the vibration control 166 is a knob which is turned to aparticular setting to increase or decrease the intensity of thevibrations of the vibrator module 170. Users may want to change theintensity of the vibrations periodically. This can be helpful whenchanging between different environments or when wearing differentthicknesses of clothing. For example, a user may want a high intensityvibration setting when using their mobility device in a noisy or bumpyenvironment, such as a mall or a bumpy road, respectively. A user maywant a low intensity vibration setting, however, when using theirmobility device in a quite or smooth-rolling environment, such as alibrary or a carpeted office, respectively. Some users may also besensitive to vibrations or have changing sensitivities to vibrations.For example, a user with cerebral palsy may have a spastic episode inresponse to higher-intensity vibrations. The level of vibrations thattriggers a spastic episode in a particular user may also vary fromday-to-day.

The computing module may comprise a memory containing a program havinginstructions which are executed by a processor. The computing module maycommunicate the results of the analysis to a feedback module 150 asdata. Based on the data from the computing module, the feedback module150 may provide a user of the system 100 with information about theproximity and/or location of objects within the vicinity of the system.The system/device may be powered by an internal or external battery, orthe power source of the mobility device, itself, through existing orcustom ports.

FIGS. 3A-D show various views of a sensor module 300 in accordance withan embodiment of the present disclosure. The sensor module 300 comprisesa housing 302 and one or more sensors 304 a, 304 b, 304 c, 304 d, 304 e.The sensor module 300 may also comprise a sensor support structure 306.The sensor support structure 306 is for retaining the sensors 304 a-e ina certain positions within the housing 302. The sensor support structure306 may form and be integrated with the housing 302 such that thehousing 302 and the sensor support structure 306 are oneintegrally-formed piece.

The sensor module 300 may contain an internal processor, and/or aninterface for communication with an external processor. The sensorsupport structure 306 holds each of the sensors 304 a-e at a particularangle relative to the sensor module 300 and each other, respectively.The support structure 306 may be configured to permit the user or aninstaller to adjust the angles of the sensor 304 a-e from time-to-time.In an embodiment, servo motors are mechanically connected to the sensorsso that their angles may be independently adjusted by the user orautomatically by a processor according to a particular algorithm. Theability to adjust the angles after installation of the system 300 on themobility device may assist with compensating for the tilt of themobility device or sensor module 300, for example, to help ensure thatthe angle of the sensors 304 a-e to the ground plane remains consistent.

The sensors 304 a-e in the sensor module 300 may be configured,arranged, or positioned in the sensor module 300 in such a way so as tocreate one or more detection zones 308, 310, 312 about the sensor module300. The detection zones 308, 310, 312 divide up a portion of the areaaround the sensor module 300 that all of the sensors 304 a-e,collectively, can detect objects within.

In accordance with the sensor module 100 of FIG. 1, the ultrasonicsensors 304 a-e are arranged to form three detection zones 308, 310,312. Each sensor may be able to detect the surface of an object within acone-shaped volume, the tip of which commences at or close to eachsensor face, and the cone of which extends outward from the face of thesensor. This is also referred to herein as a sensor cone. Although manysurfaces may fall within a sensor cone for a particular ultrasonicsensor, the ultrasonic sensor may only identify, record, and/orcommunicate the surface closest to the sensor face. Sensors 304 e and304 d are each positioned on opposite sides of the sensor module 300.Sensors 304 e and 304 d may each be positioned at an angle of 45 degreesrelative to the back plane 320 of the sensor module 300, the sensorseach facing outwards. Sensors 304 a and 304 c are positioned on thefront of the sensor module 300. Sensors 304 a and 304 c may each bepositioned at an angle that is anywhere between 15 degrees and 60degrees relative to the back plane 320 of the sensor module 300. In anembodiment, sensors 304 a and 304 c are each angled inward by 20degrees. Sensor 304 b is positioned on the front of the sensor module300. Sensor 304 b may not be angled in any direction relative to theback plane 320 of the sensor module 300.

As shown in FIG. 3, multiple ultrasonic sensors 304 a-e with overlappingcone-shaped volume coverage of a particular area may be used to detectthe surface of an object in a detection zone. The overlapping areas ofcoverage by the sensors can provide increased reliability through sensorreading redundancy. A single sensor may give inaccurate readings, suchas about the existence and/or distance of a surface of an object in itsdetection area, depending on the position and/or angle of the sensorface relative to the object, the shape of the object, the height of theobject, and/or the material of the object. Individual sensors my alsofail. Individual sensors may also periodically have incorrect readingsdue to electro-magnetic interference. Inexpensive ultrasonic sensors canbe prone to incorrect readings and poor quality readings, especially forsurfaces that are at an angle that is not parallel to the face of thesensor. Overlapping sensor detection areas, however, can help provideredundancy to reduce the effect of one sensor having an incorrectreading. Using multiple sensors, each sensor with its face at adifferent angle from the other sensor faces, can help detect surfaces ata variety of angles. Overlapping sensor detection areas can alsoincrease the total area or volume viewable by all of the sensors,collectively. The total horizontal planar area within which the sensorscan detect an object (also referred to as viewable area), collectively,may be 180 degrees relative to the backplane 320 of the sensor module300. For example, the readings from sensors 304 e may be used to detectobjects within detection zone 308; the readings from sensors 304 a, 304b, and 304 c may be used to detect objects within detection zone 310;and the readings from sensor 304 d may be used to detect objects withindetection zone 312.

The number of sensors used in the system may depend in part on thetype(s) of sensor(s) being used, and/or the information required. Forexample, a single LIDAR sensor may be used to obtain detailedinformation about the distances of all surfaces within a full 180 degreefield of view. LIDAR sensors, however, may be 50 to 100 times the costof an ultrasonic sensor. In an embodiment, a plurality of inexpensiveultrasonic sensors are used in the system 100. Even though multipleultrasonic sensors are used, the cost of those sensors, collectively,may still be significantly less than a single LIDAR sensor. Althoughsignificantly less expensive, using the multiple ultrasonic sensors in aparticular configuration may still provide the data that is required tonotify the user about objects within their vicinity at the necessaryresolution.

In an embodiment, the computing module is configured with an algorithmwhich assigns one or more sensors to a selected detection zone. Thealgorithm might identify the minimum of distance/proximity readingbetween all sensors assigned to the detection zone. That minimumdistance/proximity reading may be used as the single/unitary value tocontrol the portion of the feedback module(s) providing information tothe user about the corresponding detection zone. The algorithm maysmooth the sensor readings (e.g. by taking a rolling average for aperiod of time, or waiting for at least a certain number of readingswithin a new distance threshold) to help ensure that if an object is inthe middle of two distance thresholds, the feedback module(s) do notrapidly switch back and forth between two ranges. This smoothing mayonly occur when the current distance reading is greater than theprevious reading. If the current distance reading is smaller than theprevious distance reading, no smoothing may be desired so that the useris immediately notified of an object that may be closer. Such aconservative approach to sensor reading filtering can be important formobility applications where physical harm or property damage can resultif an object is actually closer than the distance identified to theuser.

The sensor module may be attached at various locations on a mobilitydevice. For example, the sensor module 300 may be attached to the baseof the back of the mobility device (as shown in FIG. 1), or the top ofthe back portion of the backrest of the mobility device. Being able toattach the sensor module 300 to different locations of a mobility deviceincreases the likelihood of finding a location that permits multiplesensors 304 a-e to have an unobstructed view of a select area ofinterest. There are many types of mobility devices. For example,mobility devices may include wheelchairs, motorized wheelchairs,scooters, walkers, devices for assisting users with standing from aseated position and walking, canes, bicycles and motorized bicycles.Having the flexibility to mount the sensor module at different locationson a particular mobility device helps accommodate the differentstructures of mobility devices and/or the unique physical requirementsof the user. Examples of potential locations at which to mount a sensormodule 300 include, but are not limited to, the backrest, base, seatpan, arm rest, leg rests, or other accessories such as mounts and traysof a mobility device. The sensor module 300 may be fastened to themobility device using one or more of the following: fabricfasteners/straps, adhesives, and rigid couplers. The system 100 maycomprise spacers and/or supports to help position the sensor module 102on the mobility device, and set the attitude of the sensor module 102relative to the mobility device.

The system, device, and method of the present disclosure may also beused in other applications which have similar object detectionrequirements, such as remote controlled robots such as telepresencerobots. The sensor module may be attached or mounted to a robot toprovide feedback/information to the user of that robot to help the usernavigate the robot around obstacles within the vicinity of the robot.Similar to a mobility device application, robots may need to benavigated through obstacles which are very close in proximity to therobot. The user may be operating the robot locally or remotely. Thesystem, device and method of the present disclosure may help augment orsupplement other environment sensing equipment, such as a video monitor.

Users of mobility devices may need supplemental or augmented informationabout the environment behind their mobility device. A mobility devicemay physically restrict a user from rotating their body relative to themobility device to see what objects are behind the mobility device. Auser may also not have the physical ability to rotate their bodyrelative to the mobility device. Even if a user can rotate, the mobilitydevice (or objects hanging off the mobility device such as a backpack)may partially or completely block the user's view, especially thearea/region in very close proximity to the back of the mobility device.A user may also have visual impairment which would further reduce theuser's ability to see what is behind their mobility device. In anembodiment in accordance with this disclosure, a sensor module 300 ismounted to the back of a mobility device to monitor the area behind themobility device. Users of mobility devices can benefit from informationabout the environment behind their mobility devices. Such informationcan, for example, help a user reverse their mobility device. Userstypically find themselves in environments with their mobility deviceswhere multiple objects are quite close together. In such environments itmay not be possible for the user to turn their mobility device around.Instead, the user must reverse their mobility device through theenvironment, navigating the objects which are in close proximity andbehind the mobility device. Users may also need to reverse into orthrough a particular portion of an environment (such as through adoorway) because the mobility device is more maneuverable when reversingas compared to going forward. This is similar in concept to needing toreverse a car to parallel-park.

The system 100 may also be able to alert a user to a potential securitythreat behind their mobility device. Users of mobility devices may havean increased risk of theft. It is common for mobility device, andespecially wheelchair users, to hang a backpack containing person itemson the back rest of their mobility device. This makes it easier forsomeone to remove an item from the backpack without the user'sknowledge. For example, the system 100 may alert the user to a personbehind their mobility device, the proximity of that person, and/orwhether the person is approaching or moving away from the back of themobility device. If the system 100 detects a person that is close to theback of the mobility device and continuing to approach the mobilitydevice, this alerts the user that the person may be attempting to stealtheir belongings or intentionally make contact with the user.

Navigating a mobility device through a doorway can be difficult for auser, irrespective of whether it is done in forward or reverse.Navigating a doorway with a mobility device can be difficult for anumber of reasons. For example, a doorway has solid walls which areopposite to each other to define a narrow space through which to pass.The widths of doorways are typically set for a person without a mobilitydevice. Mobility devices are typically much wider than a standardperson. Doorways may also have doors which consume a portion of thespace within a doorway which would have otherwise been available.

In accordance with an embodiment of the present disclosure, the system100 is used to help a user navigate their mobility device through adoorway. This may comprise helping the user to better align theirmobility device with a doorway before the user passes their mobilitydevice through the doorway. In an embodiment, the system 100 is firstput into short range mode. The user then navigates their mobility devicetowards the doorway. The sensor module detects the sides of the doorwaywithin the detection zones as they approach, and the system 100 alertsthe user to the mobility device's position relative to the sides of thedoorway through the haptic feedback module 170 and the light module 152.A user knows they are properly aligned to pass through a doorway withouta collision with the doorway when both the left light 154 and the rightlight 156 of the light module 152 are illuminated the same colour, andthe middle light 158 is of a colour that indicates that there issufficient open space in the direction the user needs to travel. If bothside lights are illuminated the same colour, this indicates to the userthat the sensors for the left detection zone 106 and the right detectionzone 108 are approximately the same distance to the left and right sidesof the doorway, respectively. For example, if both left and right lights154, 156 are red, this indicates that the sensor module (and thecorresponding mobility device) is relatively centered within the doorwayand likely not going to hit either side. By contrast, if the left light154 is red but the right light 156 is yellow (or whatever colour ismapped to a greater distance threshold range), this indicates that thesensor module 102, as a proxy for the mobility device, is misalignedwith the doorway: it is too close to the left side of the doorway andnot sufficiently close to the right side of the doorway. The user thenknows to bring the right side of the wheelchair closer to the right sideof the doorway to better align and avoid a collision with the left sideof the doorway. Where the lights are LEDs, a user can more easily seethe colour of the lights in their peripheral vision. Having differentshaped cut-outs for the lights in the top of the feedback module canalso help a user differentiate between the lights, particularity whenall of the lights are not illuminated at the same time. The combinationof LEDS and different shaped cut-outs can help a user obtaining objectproximity information by using their peripheral visions without lookingdirectly at the lights, themselves. Being able to use peripheral visionto receive information from the system 100 can enable the user to usetheir direct vision to also help with navigating the doorway (or someother environment).

The vibration module 170 can also provide information to the user tohelp the user navigate through the doorway without a collision. A userknows they are properly aligned to pass through a doorway if the leftvibration motor 172 and the right vibration motor 174 each provide thesame number of vibration cycles, vibration durations, and/or vibrationintensities. The same number of vibration cycles, the same vibrationdurations, and/or the same vibration intensities means that each of theleft side of the doorway and the right side of the doorway are withinthe same range thresholds for the left and right detection zones106,108. In other words, neither side of the doorway is too close or toofar away from the sensor module 102 such that one side of the mobilitydevice will hit the doorway frame. If there are unequal number vibrationcycles, vibration durations, or vibration intensities between the leftand rights vibration motors 172, 174, the user knows to navigate themobility device in the direction corresponding to the side which has hada lower number of vibrations cycles, vibration duration, or vibrationintensity. This is because the sensors for that detection zone have notcome sufficiently close to the corresponding side of the doorway frame.In other words, the user's goal is to cause the left and right vibrationmotors to produce the same number of vibration cycles, vibrationdurations, and/or vibration intensities.

In another embodiment, the system 100 is used to navigate a mobilitydevice closer to an object without collisions so that the user mayinteract with the object or something close to the object. For example,the system 100 may be used to align a mobility device adjacent to a wallwithout collision so the user can reach a switch/button on the wall. Tomake it easier to reach a switch or button (e.g. such as an elevatorcall button) on a wall, users typically align their mobility device sothat the side of the device faces (is parallel to) the wall. It can betoo far for a user to reach a switch/button when the front of thewheelchair faces the wall. It can be difficult, however, for a user toalign their mobility device so the side is parallel to the wall. A usermight have difficulty assessing how far away a switch/button is whiletrying to move their mobility device to be parallel with a wall. Thisdifficulty could be due, in party, to lower peripheral vision. In somecases, the mobility device is too far away. In other cases, the mobilitydevice collides with the wall. In an embodiment, the system 100 isconfigured to provide an indication to the user via a feedback module150 when the mobility device is parallel, and sufficiently close to, awall for the user to reach the switch/button on the wall. In anembodiment, a side light is illuminated a particular colour on thefeedback module.

In accordance with the sensor module 100 shown in FIG. 1, the sensormodule 100 is mounted to a part of the mobility device (such as thelower backrest of a mobility device) using a flexible cloth strap andbuckle. The cloth strap passes through a strap cavity 314 defined by theback of the sensor module housing 302.

FIG. 4 shows a perspective view of an embodiment of a sensor module 400in accordance with the present disclosure. The sensor module 400 issimilar to the sensor module 100 shown in FIG. 1. The sensor module 400comprises a strap cavity 414 defined by the sensor module housing 402.

FIGS. 5A-D shows various views of another embodiment of a sensor module500 in accordance with the present disclosure. The sensor module 500 issimilar to the sensor module 100 shown in FIG. 1, the difference beingthat the sensor module 500 is formed from predominately plasticcomponents. The plastic components may be injection molded.

FIG. 6 shows a perspective view of a sensor module 600 in accordancewith an embodiment of the present disclosure. The sensor module 600similar to the sensor module 100 shown in FIG. 1. The sensor module 600comprises a strap 622 which passes through a strap cavity 614.

FIG. 7 shows an exploded perspective view of a sensor module 700 inaccordance with an embodiment of the present disclosure. The sensormodule 700 is similar to the sensor module 500 show in FIGS. 5A-Dcomprising predominantly plastic structural components. The sensormodule 700 comprises a housing made of two-halves: a top half housing702 and a bottom half housing 704. Each of the housing halves 702, 704comprises a portion of the sensor support structure 706 a,b integrallyformed therewith: a top half 706 a sensor support structure and bottomhalf 706 b sensor support structure. The sensor support structure 706comprises a pattern of fins 708 defining half-moon cut-outs that holdthe various internal sensors 710 in place. The back plate 712 a,b of thesensor module 700 is also in two halves, each half integrally formedwith the corresponding housing portion.

FIG. 8 shows an exploded perspective view of a sensor module 800 inaccordance with an embodiment of the present disclosure. The sensormodule 800 is similar to the sensor module 300 shown in FIGS. 3A-D. Thesensor module 800 comprises predominantly sheet-metal or sheet-basedstructural components. The sensor module 800 comprises a top plate 802,a bottom plate 804, and a back plate 806. The sensor module 800 alsocomprises a sensor support structure 808 which may be a sheet of metalfolded at different points along its length. The support structure 808is placed between the top plat 802 and the bottom plate 804. The sensors810 are then inserted into retaining holes 812 defined by the supportstructure 808. The components may be held together using fasteners (suchas screws and bolts) and/or an adhesive.

FIGS. 9A-E show various views of another embodiment of a sensor module900 in accordance with the present disclosure. The sensor module 900contains only one sensor thereby making it smaller. The sensor may be aultrasonic sensor comprising a separate transmitter and receiver. Thesensor module 900 comprises a housing 902. The housing 902 defines oneopening 904 for a single sensor 906. Rather than a single large sensormodule, multiple smaller sensor modules 900 may be used together todetect surfaces with a particular area. For example, multiple smallersensor modules 900 may be used to accommodate certain physical featureson a mobility device which inhibit the use of a larger sensor module. Aphysical feature may prevent the larger sensor module from beingproperly positioned on the mobility device. A physical feature may alsoblock a sensor from viewing a particular area. Multiple smaller sensormodules 900 may also be used to detect objects around a mobility device.The smaller sensors modules 900 can also be configured and coordinatedto divide an area around the mobility device into one or more detectionzones. The boundaries of these detection zones may not necessarily beingcontiguous with one another. Multiple smaller sensor modules 900 mayalso be combined together and/or with a larger senor or multiple sensors(such as the sensor module 102) in one system to help increase the areamonitored by the sensor modules, collectively, and/or to increase thesystem reliability by overlapping the areas monitored by each sensor.For example, a smaller sensor module 900 may be placed at a user's headlevel to monitor for high objects (such as tables) which may bedifficult to detect with just a sensor module, alone. The sensor modules900 may connect into a central hub containing a processor and/or thecomputing module. The central hub may reside in a large sensor module102 or outside. The readings from each of the multiple sensor modules900 are analyzed by the processor in accordance with certaininstructions to obtain aggregate data representing the proximity of anobject to the sensor module. The sensor module location may be a proxyfor a location on the mobility device. That proximity data is thencommunicated to a user using a feedback module.

FIG. 9E shows an exploded view of the sensor module 900. The housing hasa top half 902 a and a bottom half 902 b. The sensor module 900 also hasa back plate 904. The housing 902 a,b and back plate 904 retain thesensor 906 in a proper orientation.

The sensors used with a sensor module may be any one or more types ofsensors that can detect the proximity of a surface of an object to thedetector of the sensor. The type(s) of sensors used in a sensor modulemay depend on the application for which the sensor module is being used.Different types of sensors may be incorporated into a single sensormodule.

In an embodiment, a sensor may be ultrasonic sensors. Ultrasonic sensorsmay be used when the application is for detecting objects or surfaceswithin the vicinity of a mobility device. In a mobility deviceapplication, the system may be required to determine the distance of asurface to a mobility device when the mobility device is within a rangeof less than 3 meters from the object or surface. The system may need tobe able to detect the distance of a surface of an object within a marginof error of 0.5 to 5 centimeters. The system may also be required tofunction outdoors where lighting, sound, and electro-magneticinterference may reduce the reliability of readings from certain typesof sensors. Since a mobility device typically moves relative to objects,and the system may be used to help a user navigate objects within theirsurroundings/environment, the system may be required to quickly detectchanges in the distance between the mobility device and anobject/surface. The system may be required to detect changes in thedistance in real-time. The sensors may also need to be relativelyinexpensive by capable of being configured to provide a reliableoutcome. Ultrasonic sensors may be better suited than other types ofsensors to achieving the above-noted requirements.

In an embodiment, the ultrasonic sensor of the sensor module comprises atransmission transducer (also referred to as transmitter) and a separatereception transducer (also referred to as receiver). Having separatetransmission and reception transducers may help improve the minimumdistance the sensor is able to detect, and the rate at which changes inthe distance of an object or surface to the sensor is detected. While itmay be possible to use a single transducer for both transmitting anultrasonic signal and detecting the reflection of that signal off of asurface or an object, a single transducer may result in a lower rate ofdistance detection and a higher minimum distance that can be detected.This is because in a single transducer sensor, the transducer alternatesbetween transmitting an ultrasonic signal (transmitting mode) andreceiving an ultrasonic signal (receiving mode). When transitioningbetween the transmitting and receiving modes, the transducer must beallowed to settle for a period of time before it is capable of receivingthe ultrasonic signal reflected from the surface. The closer an objectis to the sensor, the less time the sensor has to settle before needingto transition the sensor to receiving mode to detect the reflection ofthe transmitted signal. The smallest distance that is possible to detectwith a single transducer may make the single transducer sensorundesirable if the application requires detecting obstacles at a closerange such as in certain mobility applications.

A sensor may in the alternative be, or comprise, one or more of aninfrared sensor, Lidar, radar, a electromagnetic sensor, anaccelerometer, or gyroscopic sensors. Using different or multiple typesof sensor in sensor module(s) forming part of the system may helpimprove accuracy, reliability, and/or the functionality of the systemfor certain applications. Depending on their construction, a proximitysensor may be better suited to detecting surfaces of objects in specificdistance range or materials.

In an embodiment in accordance with FIGS. 3A-D, five ultrasonic sensors304 a, 304 b, 304 c, 304 d, 304 e (each sensor comprising a transmittertransducer 316 and a separate receiver transducer 318) are used tocreate three detection zones. The detection zones collectively coveringa 180-degree horizontal plane around the sensor module 300. Thedetection zones are a left detection zone 308, a middle detection zone310, and a right detection zone 312. The detection zones may overlap.The sensor module 300 may be positioned on a mobility device as shown inFIG. 1 so that the detection zones cover the area at the rear of themobility device. The ultrasonic sensor is suitable in this applicationas the types of material that are acoustically reflective and detectableby ultrasonic sensor are typically hard and desirable to be avoided by amobility device. Hard surfaces typically cause more damage whencontacted by a mobility device. By contrast, the types of materials thatare not acoustically reflective (and therefore invisible to theultrasonic sensor) are soft and cloth-like materials, which users areless concerned about avoiding since they typically cause less damagewhen contacted by a mobility device. Put another way, acousticallyreflective, hard, materials are highly visible to ultrasonic sensors,and are also potentially damaging in the case of a collision.

The sensors 304 a-e may be positioned in the sensor module 300 accordingto the angle defined by their specific field of view. If each sensor hasis a narrower field of view, the angle of each sensor face relative toeach other may be greater to ensure a particular total area is covered,even if there are blind spots within that total area. This may alsoreduce the overlap of sensor cones. On each end of the sensor module300, a sensor 304 e, 304 d may point sideways such that the forward-mostlimit of its field of view is parallel to the plane defined by the backof a seat of a mobility device. All of the other sensors would be angledaccordingly to give 180 degrees of vision area. One sensor 304 b may belocated in the middle of the sensor module 300, to view the areadirectly behind the mobility device. The two remaining sensors 304 a,304 c may be located next to the outward-facing sensors 304 e, 304 d,but may be pointed inward by an angle selected to give a reasonablebalance of redundancy directly behind the mobility device, andconsistent angular coverage. The two outer pairs of sensors 304 e, 304 dmay be spaced approximately 20 cm apart and the housing 302 may beapproximately 30 cm wide to occupy about 80% the width of a mobilitydevice.

The computing module may be contained within the housing of the sensormodule, or within a separate housing to be attached elsewhere to amobility device. The computing module may include extra ports to allowfor additional sensor modules to be connected. Where the computingmodule is external to a sensor module, all sensor modules may beconnected via such ports. The computing module may also contain ports tobe used by one or more feedback modules. The computing module may alsoconsist of a wireless transmitter/receiver to use a wirelesscommunication protocol (such as Bluetooth) to send/receive wirelesssignals and communicate with all of the electronic devices that are partof the system, or other electronic devices.

In an embodiment, the computing module receives data from one or moresensor modules, analyzes the data, and controls the feedback module inaccordance with the analyzed data. The output to the feedback module maybe based on adjustable feedback module parameters.

In an embodiment, the computing module receives un-processed (raw)sensor data from the sensors within the one or more sensor modules. Theraw data is then normalized using algorithms that include noisefiltering. The algorithms may check for local temporal coherence (thecorrelation or relationship between data collected at different momentsin time by the same sensor) in order to eliminate incorrect data. Thealgorithms may comprise a low-pass filter, which can help eliminatesensor reading spikes and other anomalies. The algorithms may use someadjustable variables in order to recognize unwanted or incorrect data.Machine learning algorithms may also be used to learn sensor models andpredict system accuracy.

Data from sensors that are observing or allocated to monitor the samedetection zone are then combined by the computing module in a manner soas to assess the proximity of the closest obstacle or surface withinthat detection zone. Data from sensors positioned to predominantlymonitor other detection zones, but which have overlapping coverage withthe detection zone, can also be used. Global temporal and spatialcoherence (within each detection zone, and/or across multiple sensorsand/or detection zones) can then be used to achieve a single objectsurface proximity value for each detection zone. In the case thatdifferent types of sensors are used, a weighted combination of sensorvalues may be used. Final object surface proximity values for eachdetection zone may then be communicated to the feedback module based onadjustable parameters (e.g., intensity and colour mappings).

The computing module may comprise a memory. The memory may storeadjustable setting parameters. The parameters may relate to theassignment of sensors in the sensor module to detection zones, andaffect how readings from those sensors are analyzed/combined, and theactions to take in response to the date analysis. The computing modulemay also store parameters relating to the feedback module(s), includingwhich modules are enabled and disabled, distance ranges, mappings ofthese ranges to feedback parameters (e.g., light intensity, colourcorresponding to distance threshold ranges, audio type, audio volume,audio frequency, vibration duration, vibration intensity, interventiontype).

The computing module may also be configured or programmed to comprisemultiple modes that can be toggled between, each mode with its own setof adjustable distance threshold ranges that trigger warning indicationsand danger indications. Each mode can thus define the proximity valuescorresponding to the type of feedback provided to the user via thefeedback module(s).

In an embodiment, a first mode may be configured such if the mobilitydevice is a distance of between 41 cm and 60 cm from an obstacle orsurface, a warning indication is provided, while at distances equal toor lesser than 40 cm, a danger indication is provided. A second mode maybe configured to provide warning indications when the mobility device isa distance of between 25 cm and 45 cm from an obstacle or surface, anddanger indications at distances lesser than or equal to 24 cm.

The computing module may be programmed to comprise persistence variableswhich determine how long an obstacle is reported to a user via thefeedback module to be in a detection zone after the object has left thezone. In addition, a block or feature of the feedback modulecorresponding to a particular detection zone might be illuminated basedon the detection of a surface or object in an adjacent detection zone.This would help account for the motion model and/or dimensions of themobility device. For example, even if an object is detected as beingpresent in a middle zone and the left and right zones are determined tobe free of any obstacles, the feedback module may show all three zonesto comprise obstacles since a mobility device might not be able tosafely navigate to the left or right zones at full speed without hittingthe obstacle that is in the middle zone.

Parameters and/or settings may be configured or selected directly on thecomputing module, and/or by using a physical switch, a wireless switch(e.g., using a smart phone application), and/or a voice-activatedmechanism that relays the information to the computing module.

Data collected and processed by the computer module may be saved to acomputer-writable medium and/or may be transmitted wirelessly and/oruploaded to a server connected to the internet (cloud). Such data can beused for logging and/or monitoring purposes. For example, such data canbe used to present information regarding near-collisions, averagedistance to obstacles, proximity to obstacles, location of obstacles,the mobility device user's driving behaviour, etc. In one embodiment,proximity and locations of obstacles are display in a web or smart phoneapplication.

A feedback module may provide a variety of types of feedback to theuser, including, visual, audio, and/or haptic feedback. A feedbackmodule may be configured to provide different information to a user foreach type of feedback. For example, the feedback module may providewarning indication(s) to signify that an object has entered one or moreof the detection zones, passed through a distance threshold for aparticular detection zone, and/or entered the immediate vicinity of themobility device. The feedback module may also provide a dangerindication to signify that an object or surface has entered theimmediate vicinity of the mobility device. Individual feedback modulesmay be activated and/or de-activated through one or more of a physicalswitch, a wireless switch (e.g., using a smart phone application),and/or a voice-activated mechanism. The feedback module may comprise thecomputing module or be connected to a separate computing module.

A visual feedback module may be a flexible, movable, component (such asa strap) having visual indicators. A movable feedback module can helpensure that notwithstanding the configuration of the mobility device,the visual feedback module may be positioned on the mobility device oruser so that the user can view. The visual indicators may grouped inblocks that map or correspond to detection zones of the sensormodule(s). Each block may consist of one or more lights that areactivated when an obstacle is detected within an adjustable distancethreshold ranges (also referred to as a “distance ranges”), of thedetection zone. These distance ranges may be mapped such that specificcolours or light intensities occur on the visual feedback module. Themappings may be adjustable. For example, an obstacle that is detectedwithin 20 cm of a sensor module for a particular zone might result inthe corresponding block appearing red as a danger indication, while anobstacle that is detected between 21 and 41 cm of the sensors module fora particular zone might result in the corresponding block appearingyellow as a warning indication. This component might consist of astructural element to provide shade over the lights, keeping themvisible despite bright light conditions, such as direct sunlight.

The haptic feedback module may be a movable component that producesvibrations when an obstacle is detected within any a particular distancerange. The intensity, frequency, and/or duration of the vibration may beconfigured so as to be proportional to the proximity of the obstacle.For example, a warning indication might be communicated to the user byhaving the haptic feedback module provide a weak and short vibration. Adanger indication might be communicated by having the haptic feedbackmodule provide a strong and long vibration. An indication in the hapticfeedback module is provided if the proximity value is found to liewithin a different distance range than before, or if the proximity valuelies within the same distance range as before but differs from theprevious proximity value(s) by a specified or adjustable amount. Thismay help reduce user annoyance in the case, for example, that theirmobility device is parked beside a stationary obstacle in the immediatevicinity, and their mobility device does not move any closer toobstacle.

The audio feedback module may be a movable component that plays apre-recorded sound when an obstacle is detected within any of theadjustable distance thresholds. The volume and/or frequency of the soundcan be proportional to the proximity of the obstacle, and may beadjustable. For example, a warning indication might be communicated in asoft voice, or as a soft beep or low-frequency tone, while a dangerindication might be communicated in a loud voice, or a loud beep orhigh-frequency tone. A sound is provided if the proximity value is foundto lie within a different distance range than before, or if theproximity value lies within the same distance range as before butdiffers from the previous proximity value(s) by a specified oradjustable amount. This may help prevent user annoyance in the case, forexample, that their mobility device is parked beside a stationaryobstacle in the immediate vicinity, and their mobility device does notmove any closer to obstacle.

The visual, audio, and/or haptic feedback modules may be integrated intoa single movable, flexible component, or be provided as separate devicesor components of the system. In addition, the visual, haptic, and/oraudio feedback modules may be embodied in a smart device application ona mobile phone, where the visual feedback is displayed within anapplication, the haptic feedback is provided through the smart device'svibrating motor, and the audio feedback is provided through the smartdevice's speaker.

The feedback module(s) may be mounted directly to the mobility device,on the user's person, on or within the sensor module(s), or anycombination of the above. The feedback module(s) may be fastened to themobility device, the user's person, or within the sensor module(s) in anumber of ways including, fabric fasteners/straps, adhesives, rigidcouplers, or some combination thereof. The feedback module may include asystem of spacers or supports that allow the precise position andattitude of each module to be adjusted during and after mounting.

FIGS. 10A-E show various views a feedback module 1000 in accordance withan embodiment of the present disclosure. The feedback modules 1000 is avisual feedback module similar the feedback module 150 shown in FIG. 2.The feedback module 1000 receives data from the sensor module, analyzesthe data, and provides aggregated information to a user. The aggregatedinformation may reflect the proximity and/or locations of objects and/orsurfaces of objects within the vicinity of the mobility device beingmonitored by the sensor module(s).

Referring to FIG. 10A, the feedback module 1000 comprises a body 1018.The top surface 1020 of the body 1018 provides a visual user interfacefor displaying aggregated information to the user. The top surface 1020may comprise a cover defining cut-outs or windows so that lights withinthe body 1018 or visible to a user.

As shown in FIG. 10E, the top surface may be a transparent sheet ofplastic or glass. An overlay 1026 defining cut-outs or windows may beplaced on the transparent sheet so that only certain lights below thetransparent sheet are visible to a user. The overlay 1026 may be aflexible piece of plastic with an adhesive backing such as a sticker.The sticker may have perforated areas to allow a user to remove portionsof the sticker before installation to provide the cutouts or windows.This could allow a user to customize what lights of the feedback module1000 they wish to see. This customization could be performed by the userat the time of installation on the mobility device. The feedback module1000 also comprises a vibration control 1016 which allows a user to setthe intensity of vibrations in a haptic module. The vibration control1016 comprises a knob 1028 attached to a potentiometer 1030. This allowsthe user to fine-tune the vibration intensity. The knob may have a stopthereon which limits the amount by which the potentiometer may berotated. A stop which limits the rotation of the potentiometer to lessthan the maximum rotation possible may be desirable so a user cannotinadvertently set the vibrations to the maximum possible intensity. Thismight be particularly useful for users who may, for example, haveday-to-day variations in their sensitivity or tolerance of vibrationstimuli. The feedback module 1000 comprises a port 1024. The port 1024is so the feedback module 1000 can be electrically connected to thesensor module and/or a haptic module or a power supply. The feedbackmodule 1000 also comprises a bracket 1022 so it can be fastened to amobility device. The bracket can accommodate a bolt or a similarrod-type structure to allow the feedback module 1000 to pivot about theaxis of the bracket 1022. A user may wish to change the angle of thefeedback module 1000 to, for example, have a better view of the top ofthe feedback module 1000 or limit the interference from overhead lightsuch as from the sun.

FIGS. 11A-B shows a top view of another embodiment of a sensor module1100 in accordance with the present disclosure. FIG. 11B is a close-upview of the region around the sensor module 1100 of FIG. 11A. The sensormodule 1100 is similar to the sensor module 300 shown in FIGS. 3A-D. Thesensor module 1100 comprises proximity sensors 1102, 1106, 1110, 1114,1118. The proximity sensors may be ultrasonic sensors. Each of theproximity sensors 1102, 1106, 1110, 1114, 1118 is configured to detectthe proximity of a surface to the sensor within a corresponding area ofcoverage 1104, 1108, 1112, 1116, and 1120, respectively. If theproximity sensor is an ultrasonic sensor, it may be configured to detectthe surface which is closest to the face of the sensor. FIG. 11 showsthe areas of coverage 1104, 1116, 1112, 1108, and 1120 astwo-dimensional planes for ease of visualization, but it will beappreciated that the areas within which the sensors can detect theproximity of a surface are actually three-dimensional volumes having aconic shape. The surface which the sensors detect may belong to anobject such as a box 1122 as shown in FIG. 11B.

Referring to FIG. 11B, centre sensors 1106, 1110, and 1114 areconfigured so that sensors 1106 and 1114 are each angled inwards by 45degrees relative to middle sensor 1110. This results in a number ofpositive attributes. First, all three sensor cones 1116, 1112, and 1108converge and overlap in the area close to the front of the sensor module1100. This results in redundant sensor coverage for the area immediatelyadjacent the front of the sensor module 1100. It is important to have anaccurate reading in this area. An inaccurate reading could result in acollision. Second, all three sensor cones are at significantly differentangles to one-another in this area of overlap. Having different sensorcone angles covering the same area allows a large number of surfaceangles to be detected by the three sensors, collectively, within thatarea. As previously noted, a single ultrasonic sensor (and aninexpensive ultrasonic sensor in particular) has increasing difficultydetecting a surface the more that surface tends towards an angleperpendicular to the face of the sensor. Third, the three sensor conesextend well past the area of convergence (as shown in FIG. 11A) to coverthe area at a distance from the sensor module 1100. Fourth, sensor cones1116 and 1108 also extend into (so as to overlap with) side sensor cones1104 and 1120, respectively, providing additional redundancy (at twodifferent angles) for those areas. Fifth, the total area covered by thecombination of all five sensors 1102, 1106, 1110, 1114, 1118 at theirparticular angles results in an aggregate view angle of 180 degrees withlimited blind spots. Using multiple inexpensive ultrasonic sensors inthe foregoing configuration may provide the information required by auser, but at a cost that is significantly less than what it would be forfewer higher-quality sensors (such as Lidar sensors).

By way of example, no surface of box 1122 is detected by sensor 1110because the angles of the two closest surfaces of the box 1122 are 45degrees to the face of sensor 1110. The two surfaces, however, are eachdetected by one of sensors 1106 and 1114 since the each of the surfacesis parallel to one of those two sensors. In an embodiment, a processorin communication with the sensors 1106, 1110, 1114 receives the readingsfrom the sensors of the distances to the box surfaces detected.According to the algorithm, the sensor cones of sensors 1106, 1110, 1114collectively cover a middle detection zone. The middle detection zonewould include all of the area covered by cones 1116, 1112, and 1108. Themiddle detection zone has a corresponding indicator for the userfeedback module(s). The processor aggregates the distance readings ofthe sensors 1106, 1110, 1114 covering the middle detection zone.Aggregation may comprise selecting the reading amongst the three sensorswith the smallest distance, which is the reading from sensor 1114 sinceit is closest to a surface of the box 1122. This smallest distancereading is used to represent the distance of the surface of the objectin the detection zone relative to a reference location on the sensormodule. The sensor module 1100 has multiple groups of one or moresensors. Sensor 1104 belongs to a first group. Sensors 1116, 1112, and1108 belong to a second group. Sensor 1120 belongs to a third group. Theprocessor is configured to correlate the first group sensor readingswith the left detection zone, the second group sensor readings with themiddle detection zone, and the third group sensor readings with theright detection zone. Note the overlap in are of coverage between thedetection zones. The processor controls a user feedback module accordingto the unitary value selected for each detection zone at a particulartime. The user feedback module may comprise three lights, each of thelights corresponding to one of the left, right, and middle detectionzones. The middle light corresponds to the middle detection zone. Theprocessor may illuminate and set the colour of a particular lightaccording to the unitary value for the corresponding detection zone. Thecolour/intensity of the light may be in accordance with a distancethreshold range. The user feedback module may use any visual display tonotify a user of the presence and/or proximity of a surface within adetection zone. For example, the user feedback module may comprise ascreen. The screen may show representations of the detection zones. Thescreen may also show representations of the mobility device and surfacesdetected within the detection zones. The algorithm may smooth theselected reading for a detection zone so that small changes in distance,particularly going from a closer distance range (e.g. danger) to alonger distance range (e.g. warning) is ignored if that longer distancerange has not been observed for a threshold period of time. Changes inthe other direction (longer distance range to shorter distance range)may always be reported to the user to help ensure a user hasnotification if a surface is indeed getting closer.

The system can provide users of mobility devices with informationregarding the presence and locations of obstacles in their vicinity.Collisions with these obstacles may be difficult to avoid, however, dueto a user's difficulty controlling the mobility device, or the user'sinability to see or be otherwise aware of obstacles. For this reason,the system/device may also comprise an intervention module which canintervene in the event of an impending collision by a mobility device bycontrolling the speed, acceleration, or other properties of the mobilitydevice.

The intervention module might interface with the input device thatcontrols the mobility device, the controller, and any mobility deviceactuators through hardware that is custom, provided by mobility deviceor controller manufacturers, or by a third party, or any combination ofthe above. For example, the intervention module may receive data fromone or more input devices (such as joysticks, head arrays, Bluetoothcontrollers, etc.), and optionally an accelerometer. This informationmay be sent to the controller where input regions are created. Inputregions may correspond to subsets of all possible speeds, accelerations,and/or directions that can be selected by the input device, and may bemapped to sensor module detection zones. The controller may then use thedata received from each input region and the proximity of obstacles incorresponding sensor module detection zone(s) to modify the behaviour ofthe mobility device through the intervention module. For example, atime-to-collision approach might be used in order to reduce the speedand/or acceleration of the mobility device, and/or change its direction,as appropriate. In the case where multiple input devices are used, eachinput device can be issued a priority ranking such that an input deviceof higher priority ranking overrides one with lower ranking. Since allfeedback modules can be activated and de-activated, an exampleapplication of the system/device might be the activation of theintervention module for a specific purpose such as backing up into avehicle. In this case, the intervention module can help guide or assistthe mobility device into the vehicle.

1. A system, comprising: one or more sensors configured to be mounted ona mobile device, each sensor configured to detect a proximity of asurface within a selected area about the mobile device; a user feedbackmodule comprising a plurality of lights; a computing module incommunication with the sensor(s) and the user feedback module, thecomputing module configured to receive readings of the proximities ofsurfaces from the sensor(s); attribute the readings to one or moredetection zones; and control the illumination of the lightscorresponding to detection zone(s) in accordance with the sensorreadings attributed to the detection zone(s).
 2. The system of claim 1,comprising a plurality of sensors.
 3. The system of claim 2, wherein thecomputing module is configured to aggregate the readings from a group ofthe sensors having overlapping selected areas collectively defining adetection zone.
 4. The system of claim 1, wherein the computing moduleis configured to determine a unitary value corresponding to theaggregate of the readings from the sensor(s) for the detection zone. 5.The system of claim 1, wherein the computing module is configured toilluminate a light of the feedback module different colours based on theunitary value being within certain threshold distance ranges.
 6. Thesystem of claim 1, further comprising a sensor module retaining thesensors.
 7. The system of claim 6, wherein the sensor module retains thesensors such that the face of each of the sensors is at a differentangle to the faces of the other sensors.
 8. The system of claim 4,comprising three groups of the sensors, each of the groups containingone or more sensors, each of the groups defining a left, right andcentre detection zone covering an area about the sensor module, andwherein the user feedback module comprises a left, right, and centrelight corresponding to the left, right, and centre detection zones,respectively.
 9. The system of claim 4, comprising three groups of thesensors, each of the groups containing one or more sensors, each of thegroups defining a left, right and centre detection zone covering an areaabout the sensor module, and wherein the user feedback module comprisesa left, right, and centre vibration motor corresponding to the left,right, and centre detection zones, respectively.
 10. The system of claim7, wherein two or more sensors are angled to cause their sensor cones tocross at a point.
 11. The system of claim 4, further comprising avibration device, wherein the computing module is configured to activatethe vibration device in response to the unitary value transitioningbetween different threshold distance ranges.
 12. (canceled)
 13. Asystem, comprising: a sensor module comprising one or more ultrasonicsensors, each sensor comprising an ultrasonic transmit transducer and anultrasonic receive transducer, each sensor for detecting the proximityof an object to the sensor; a computing module for controlling thesensor module and analyzing the data from the sensor modules; and a userfeedback module for providing information to a user of a mobility deviceregarding the proximity of the mobility device to an object based on thedata analyzed by the computing module.
 14. (canceled)
 15. A method foraligning a mobility device with a doorway, the method comprising:receiving readings of the proximities of a first side and a second sideof the doorway from a first group of one or more sensors, and a secondgroup of one or more sensors, respectively; indicating to a user of themobility device using any one or more of lights, sounds, or vibrations adifference between the proximity of the first side and the second sideof the doorway.